CN108901360A - Double unmanned planes cooperation coconut picking robots - Google Patents
Double unmanned planes cooperation coconut picking robots Download PDFInfo
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- CN108901360A CN108901360A CN201810626021.2A CN201810626021A CN108901360A CN 108901360 A CN108901360 A CN 108901360A CN 201810626021 A CN201810626021 A CN 201810626021A CN 108901360 A CN108901360 A CN 108901360A
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- Prior art keywords
- coconut
- boomerang
- hangnail
- unmanned plane
- transmitter
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The present invention relates to double unmanned planes cooperation coconut picking robots, belong to fruit and win equipment technical field.The robot, which is directed on unmanned plane, installs miniature laser cutting machine and hangnail boomerang transmitter, unmanned plane takes miniature laser cutting machine and hangnail boomerang transmitter near mature coconut to, hangnail boomerang transmitter emits the hangnail boomerang connecting with unmanned plane to coconut, after hangnail boomerang injects cocoanut shell, miniature laser cutting machine is cut by laser the coconut base of fruit that hangnail boomerang locks, and the coconut for being detached from cocoanut tree is suspended in below unmanned plane by hangnail boomerang.For the realization for guaranteeing the robot function, be also equipped on unmanned plane the camera for locking mature coconut, for information interchange wireless communication apparatus and control the robot work single-chip microcontroller, it uses double unmanned plane cooperations, coconut can continuously be won, the quality for guaranteeing coconut while reducing workload, is better than existing coconut stripper unit and technology.
Description
Technical field
The present invention relates to double unmanned planes cooperation coconut picking robots, belong to fruit and win equipment technical field.
Background technique
Currently, coconut is not available big machinery picking, basic since some time due to cocoanut tree and the particularity of coconut
It is all that picking personnel by the tool of climbing tree climb up cocoanut tree to complete coconut picking work.In the day of coconut demand and plantation amount
Under benefit increases, picked by hand will be unable to adapt to the industry development of entire coconut.Self-evident, the efficiency of picked by hand is very
It is low, and spent manpower be also it is huge, to a certain extent, the disadvantage that picked by hand can not change can also inhibit coconut palm
The development of sub- industry.On the other hand, manually during picking coconut there is also huge security risk, the height of coco exists
Between 15m-30m, coconut is the position being grown in close to tree crown again, so picking personnel need to climb to very high position ability
Coconut is picked, white close end has one to dredge, if picking personal protection measure or utensil of climbing tree go wrong, picking personnel are likely to
Fall from tree.The coconut fallen every year by coconut, which injures by a crashing object in even dead safety accident, is no lack of the coconut palm fallen in picking process
Son pounds to ground the safety accident for picking personnel's generation.So in view of various drawbacks present in artificial picking coconut, design is double
Unmanned plane cooperation coconut picking robot seems particularly necessary.
This kind carries stripper unit using unmanned plane based on the automatic coconut stripper unit of unmanned plane and carries out coconut picking work
Make, instead of picking of manually climbing tree, picking efficiency can be effectively improved, also reduce the security risk manually picked.The robot can
Flexibly control both can also be detached from artificial control and be picked automatically with its picking of manual control.So the robot can
Solve most of artificial picking there are the drawbacks of, promote the development of coconut industry.
Summary of the invention
To solve the deficiencies in the prior art, the technical problem to be solved by the present invention is to：Miniature laser is installed on unmanned plane
Cutting machine and hangnail boomerang transmitter, unmanned plane take miniature laser cutting machine and hangnail boomerang transmitter near mature coconut to,
Thorn boomerang transmitter emits the hangnail boomerang connecting with unmanned plane to coconut, after hangnail boomerang injects cocoanut shell, miniature laser cutting machine pair
The coconut base of fruit of hangnail boomerang locking is cut by laser, and the coconut for being detached from cocoanut tree is suspended in below unmanned plane by hangnail boomerang.To protect
The realization of the robot function is demonstrate,proved, camera for locking mature coconut is also equipped on unmanned plane, for information interchange
The single-chip microcontroller of the work of wireless communication apparatus and the control robot.The robot can continuously win coconut, reduce workload
While guarantee coconut quality, be better than existing coconut stripper unit and technology.
The technical solution adopted by the present invention is that：Double unmanned planes cooperation coconut picking robots, including unmanned plane, wireless telecommunications
Device, single-chip microcontroller, camera, hangnail boomerang, hangnail boomerang transmitter, miniature laser cutting machine, mechanical arm；Wireless communication apparatus is taken the photograph
As head, hangnail boomerang, hangnail boomerang transmitter, miniature laser cutting machine, mechanical arm are mounted on unmanned plane；Wireless communication apparatus is taken the photograph
As head, hangnail boomerang transmitter, miniature laser cutting machine, mechanical arm are connect with single-chip microcontroller；Lead between unmanned plane computer control terminal
Wireless communication apparatus is crossed to communicate wirelessly；Unmanned plane takes into miniature laser cutting machine, hangnail boomerang and hangnail boomerang transmitter to
Near ripe coconut, camera locks a mature coconut, and wireless communication apparatus is by the collected transmission of video of camera to computer
Control terminal, staff judge whether to win locked coconut, and hangnail boomerang transmitter emits hangnail boomerang to coconut after confirmation,
It pierces boomerang to inject in cocoanut shell, micro- shape laser cutting machine is cut by laser the base of fruit of coconut later, the coconut being detached from cocoanut tree
It is suspended on the lower section of unmanned plane by hangnail boomerang, locks another mature coconut again after completing the winning an of coconut, continuously
It carries out winning work.
Further, miniature laser cutting machine is existing apparatus, for cutting the base of fruit of coconut, its working principle is that utilizing
Cutting body is irradiated through over-focusing high power density laser beam, melts illuminated object rapidly, vaporize and burn or reach combustion
Point, while melt substance is blown down by with the coaxial high-speed flow of light beam, to realize the cutting to object, laser cutting has
Cutting is accurate, quick, cutting body deforms small advantage；Miniature take the photograph is provided on the laser emitter of this kind of miniature laser cutting machine
As head, effect is to provide necessary image data when locking coconut base of fruit for miniature laser cutting machine, helps laser emitter essence
Quasi- cutting coconut base of fruit.
Further, mechanical arm is existing apparatus, and using the prior art of robot arm, which can at " joint "
Arbitrarily to fold, be bent, the top of arm can 360 degree rotation；Mechanical arm is mounted on the upper end of unmanned plane, and top installation is micro-
Laser cutting machine is sent to specific position after mechanical arm activity, and make to swash after camera locks coconut by type laser cutting machine
Optical transmitting set is directed at the base of fruit of coconut, realizes laser cutting machine and precisely, quickly cuts.
Further, situation is won for complicated, special, miniature laser cutting machine and hangnail boomerang transmitter can be distinguished
It is mounted on two frame unmanned planes, i.e. a frame unmanned plane is responsible for winning coconut, and a frame unmanned plane is responsible for cutting the base of fruit of coconut；Two framves
Be mounted on wireless communication apparatus, single-chip microcontroller, camera on unmanned plane, wireless communication apparatus be responsible for unmanned plane and control computer with
And two wireless telecommunications between frame unmanned plane；Two frame unmanned planes are respectively by miniature laser cutting machine（7）, hangnail boomerang and hangnail boomerang hair
Emitter is taken near mature coconut simultaneously, the same mature coconut of the camera locking on two frame unmanned planes, hangnail boomerang transmitter
Emit hangnail boomerang to coconut epidermis, hangnail boomerang injects in cocoanut shell, and miniature laser cutting machine swashs the base of fruit of coconut later
Light cutting, the coconut being detached from cocoanut tree are suspended below the unmanned plane for being responsible for winning by hangnail boomerang, complete winning for a coconut
Two frame unmanned planes relock another mature coconut afterwards, and common carry out wins work.
Further, hangnail boomerang transmitter, be existing apparatus, be mounted on win end unmanned plane below the emitter by
Motor, spring and launching tube composition pull hangnail boomerang compressed spring after motor rotation, spring is discharged hangnail boomerang after motor power-off
It projects；Hangnail boomerang is made of stainless steel, shape approximation fish boomerang, and specific size depending on actual conditions, use by one end of hangnail boomerang
High-intensitive rope is connected on the motor of hangnail boomerang transmitter, and depending on actual conditions, unmanned plane is connected with the length of rope
Multiple hangnail boomerang transmitters, each hangnail boomerang transmitter are provided with a hangnail boomerang, often win a coconut and use a hangnail
Boomerang；The bottom for winning end unmanned plane is directly hung on after having the hangnail boomerang of coconut to be launched the motor contraction rope of device；Cocoanut shell
Thickness is between 3cm-5cm, by adjusting transmitting dynamics and the transmitter of hangnail transmitter away from can control down at a distance from coconut
The depth in boomerang insertion cocoanut shell is pierced, is essentially that hangnail boomerang does not penetrate cocoanut shell while capable of tangling coconut.
Further, camera is existing apparatus, on the one hand effect is the upgrowth situation for acquiring coconut, facilitates work people
Member judges whether to be suitble to picking, is on the one hand locked out coconut to be won and measures unmanned plane at a distance from coconut, sends out for hangnail boomerang
The work of emitter and miniature laser cutting machine provides necessary data.
Further, automatic coconut stripper unit of this kind based on unmanned plane both can manual control complete picking, that is, work
Personnel decide whether to pick the coconut of Current lock according to the video that computer control terminal receives, complete if it is the coconut on cocoanut tree
If portion needs to pick, which can also automatically pick the coconut on same cocoanut tree one by one.
Single-chip microcontroller model AT89C51, C are camera in the circuit diagram of the robot, and A is hangnail boomerang transmitter, and D is
LASER Discharge Tube.Clock circuit：The effect of crystal oscillator is that basic clock signal is provided for system, usual a system share one
Crystal oscillator, so that each section keeps synchronizing；Two resonant capacitance sizes depend on the load capacitance value of crystal oscillator, effect be filter out it is dry
It disturbs.In order to ensure that single-chip microcontroller is run, increase reset circuit to single-chip microcontroller.Reset circuit has following functions：Electrification reset can be right
Internal storage is resetted；Synchronize inside and outside clock signal；Voltage fluctuation or it is unstable when, reset circuit is straight to circuit delay
To circuit stability；Single-chip microcontroller is set to restore normal operating condition by reset circuit when program error.Radio communication circuit uses
Sound table device, circuit stability significantly improve.In addition its frequency stability is substantially the same with crystal oscillator, and fundamental frequency is up to several hundred upper kilohertzs
Hereby, its circuit and very simple compared with crystal oscillator.Hangnail boomerang emitter receives electromagnetism after dispensing instruction by solenoid valve control
Valve is powered, and emitter starting, hangnail boomerang is emitted.Mechanical arm is made of positive and negative rotation direct current generator and L298 chip.Wherein
L298 chip is motor drive ic, is worked for driving motor.Miniature laser transmitter groundwork device is Laser emission
Pipe, LASER Discharge Tube transmitting laser cut coconut.
The description of device overall process：The growth conditions of camera acquisition coconut on unmanned plane, by wireless communication by shape
State information is launched, and is emitted hangnail boomerang to coconut after being instructed, is then cut out unmanned plane and cuts to base of fruit, so that cutting
The coconut cut off is suspended on the lower section for winning unmanned plane.
Double unmanned planes cooperation coconut picking robots, control method such as following steps：
Step 1, staff fly unmanned aerial vehicle (UAV) control to coconut to be won.
Camera in step 2, unmanned plane locks a coconut simultaneously, and wireless communication apparatus is by collected video
Information is transferred to computer terminal, and staff can determine whether the coconut of locking can be picked according to video.
If single-chip microcontroller is locked according to camera after step 3, staff send picking instruction to unmanned plane in computer terminal
The position control unmanned plane of fixed coconut moves again, makes hangnail boomerang transmitter to guarantee that hangnail boomerang is not shot through the distance of cocoanut shell
The coconut of approach locking.
After step 4, unmanned plane reach specific position, single-chip microcontroller controls hangnail boomerang transmitter and emits one to locking coconut
Pierce boomerang；After hangnail boomerang battery has fired, wireless communication apparatus sends the information of hangnail boomerang battery has fired to single-chip microcontroller.
Control unmanned plane is moved to suitable laser and cuts after step 5, single-chip microcontroller receive the information of wireless communication apparatus feedback
The position of cutting mill work controls mechanical arm work later, so that laser emitter is directed at the base of fruit of coconut to be picked, laser is cut later
Laser cutting work is unfolded to base of fruit in cutting mill.
After step 6, base of fruit are cut off, the coconut after being detached from cocoanut tree is suspended on the lower section of unmanned plane by hangnail boomerang.
Step 7, when pick end unmanned plane underhung coconut reach certain amount when, staff control unmanned plane return
Ground is gone back to, continues to pick work after coconut is removed.
The working principle of the invention is：Miniature laser cutting machine and hangnail boomerang transmitter, unmanned plane are installed on unmanned plane
Miniature laser cutting machine and hangnail boomerang transmitter are taken near mature coconut, hangnail boomerang transmitter emits to coconut and unmanned plane
The hangnail boomerang of connection, after hangnail boomerang injects cocoanut shell, miniature laser cutting machine carries out laser to the coconut base of fruit that hangnail boomerang locks
Cutting, the coconut for being detached from cocoanut tree are suspended in below unmanned plane by hangnail boomerang.For the realization for guaranteeing the robot function, on unmanned plane
Be also equipped with the camera for locking mature coconut, for information interchange wireless communication apparatus and control the work of the robot
The single-chip microcontroller of work.
Compared with traditional technology, beneficial effect possessed by the present invention is：1, picking of manually climbing tree is replaced using unmanned plane,
Reduce the security risk in picking process；2, reduce personnel amount needed for picking process, reduce a large amount of pickings at
This；3, the robot can rapidly, continuously work, and picking efficiency is greatly improved；4, base of fruit, tool are cut using miniature laser cutting machine
It is small, quick to have the characteristics that notch deforms, improves the quality of coconut picking；5, staff can understand coconut palm to be won by camera
The situation of son, can preferentially then ripe picking coconut, improve coconut quality；6, the robot can realize automatic picking, to user's
It is required that it is extremely low, it can be used with popularity.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of hangnail boomerang and hangnail boomerang transmitter in the invention；
Fig. 3 is hangnail boomerang transmitter control system circuit figure in the invention；
Fig. 4 is miniature laser Cutter Control System circuit diagram in the invention；
In figure respectively marked as：1- unmanned plane；2- wireless communication apparatus；3- single-chip microcontroller；4- camera；5- hangnail boomerang；6- hangnail boomerang
Transmitter；7- miniature laser cutting machine；8- mechanical arm.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.
The coconut picking robot referring to Fig. 1, double unmanned planes cooperate, it is characterised in that：Including unmanned plane 1, wireless telecommunications
Device 2, single-chip microcontroller 3, camera 4, hangnail boomerang 5, hangnail boomerang transmitter 6, miniature laser cutting machine 7, mechanical arm 8；Wireless telecommunications
Device 2, camera 4, hangnail boomerang 5, hangnail boomerang transmitter 6, miniature laser cutting machine 7, mechanical arm 8 are mounted on unmanned plane 1；Nothing
Line communication device 2, camera 4, hangnail boomerang transmitter 6, miniature laser cutting machine 7, mechanical arm 8 are connect with single-chip microcontroller 3；Nobody
It is communicated wirelessly between 1 computer control terminal of machine by wireless communication apparatus 2；Unmanned plane is by miniature laser cutting machine 7, hangnail boomerang
5 and hangnail boomerang transmitter 6 take near mature coconut, camera 4 locks a mature coconut, and wireless communication apparatus 2 will image
First 4 collected transmission of video is to computer control terminal, and staff judges whether to win locked coconut, hangnail boomerang after confirmation
Transmitter 6 emits hangnail boomerang 5 to coconut, and hangnail boomerang 5 injects in cocoanut shell, later base of fruit of micro- shape laser cutting machine 7 to coconut
It is cut by laser, the coconut being detached from cocoanut tree is suspended on the lower section of unmanned plane 1 by hangnail boomerang 5, completes winning for a coconut
It locks another mature coconut again afterwards, is carried out continuously and wins work.
Miniature laser cutting machine 7 is existing apparatus, its working principle is that using through over-focusing high power density laser beam
Cutting body is irradiated, melts illuminated object rapidly, vaporize and burn or reach burning point, while by the high speed coaxial with light beam
Air-flow blowing melt substance, thus cutting of the realization to object, laser cutting is accurate with cutting, quick, cutting body deformation is small
The advantages of；Miniature webcam is provided on the laser emitter of this kind of miniature laser cutting machine, effect is for miniature laser cutting
Machine provides necessary image data when locking coconut base of fruit, laser emitter is helped accurately to cut coconut base of fruit.
Mechanical arm 8 is existing apparatus, and using the prior art of robot arm, which can be arbitrary at " joint "
It folds, bending, the top of arm can 360 degree rotation；Mechanical arm 8 is mounted on the upper end of unmanned plane 1, and miniature laser is installed on top
Laser cutting machine 7 is sent to specific position after 8 activity of mechanical arm, and make laser after camera 4 locks coconut by cutting machine 7
Transmitter is directed at the base of fruit of coconut, and laser cutting machine 7 is made to realize accurate, quick cutting.
Situation is won for complicated, special, miniature laser cutting machine 7 and hangnail boomerang transmitter 6 can be separately mounted to
On two frame unmanned planes, i.e. a frame unmanned plane is responsible for winning coconut, and a frame unmanned plane is responsible for cutting the base of fruit of coconut；Two frame unmanned planes
On be mounted on wireless communication apparatus 2, single-chip microcontroller 3, camera 4, wireless communication apparatus be responsible for unmanned plane and control computer and
Wireless telecommunications between two frame unmanned planes；Two frame unmanned planes respectively emit miniature laser cutting machine 7, hangnail boomerang 5 and hangnail boomerang
Device 6 takes near mature coconut simultaneously, and the camera 4 on two frame unmanned planes locks the same mature coconut, hangnail boomerang transmitter 6
Emit hangnail boomerang 5 to coconut epidermis, hangnail boomerang injects in cocoanut shell, and miniature laser cutting machine 7 carries out the base of fruit of coconut later
Laser cutting, the coconut being detached from cocoanut tree are suspended below the unmanned plane for being responsible for winning by hangnail boomerang, complete plucking for a coconut
Two frame unmanned planes relock another mature coconut after taking, and common carry out wins work.
Hangnail boomerang transmitter 6 be existing apparatus, be mounted on win end unmanned plane 1 below the emitter by motor, bullet
Spring and launching tube composition pull hangnail boomerang compressed spring after motor rotation, hangnail boomerang 5 is projected in spring release after motor power-off；
Hangnail boomerang 5 is made of stainless steel, shape approximation fish boomerang, and specific size is depending on actual conditions, and one end of hangnail boomerang 5 is with high-strength
The rope of degree is connected on the motor of hangnail boomerang transmitter 6, and depending on actual conditions, unmanned plane 1 is connected with more the length of rope
A hangnail boomerang transmitter 6, each hangnail boomerang transmitter are provided with a hangnail boomerang 5, often win a coconut and use a hangnail
Boomerang 5；The bottom for winning end unmanned plane is directly hung on after having the hangnail boomerang 5 of coconut to be launched the motor contraction rope of device；Coconut
Thickness of the shell is between 3cm-5cm, by adjusting transmitting dynamics and the transmitter of hangnail transmitter 6 away from can control at a distance from coconut
Hangnail boomerang 5 is inserted into the depth in cocoanut shell, is essentially that hangnail boomerang 5 does not penetrate cocoanut shell while capable of tangling coconut.
Fig. 3 and Fig. 4 are please referred to, single-chip microcontroller model AT89C51, C are camera in the system circuit diagram of the robot,
A is hangnail boomerang transmitter, and D is LASER Discharge Tube.Clock circuit：The effect of crystal oscillator is that basic clock signal is provided for system,
Usual one crystal oscillator of a system share, so that each section keeps synchronizing；Two resonant capacitance sizes depend on the load of crystal oscillator
Capacitance, effect are to filter out interference.In order to ensure that single-chip microcontroller is run, increase reset circuit to single-chip microcontroller.Reset circuit has following
Function：Electrification reset can reset internal storage；Synchronize inside and outside clock signal；Voltage fluctuation or it is unstable when,
Reset circuit is to circuit delay until circuit stability；Single-chip microcontroller is set to restore to operate normally shape by reset circuit when program error
State.Radio communication circuit uses sound table device, and circuit stability significantly improves.In addition its frequency stability and crystal oscillator substantially phase
Together, fundamental frequency is up to several hundred thousand hertzs, its circuit and very simple compared with crystal oscillator.Hangnail boomerang emitter is by solenoid valve control
System, receives solenoid valves after dispensing instruction, emitter starting, and hangnail boomerang is emitted.Mechanical arm is by positive and negative rotation direct current
Motor and L298 chip composition.Wherein L298 chip is motor drive ic, is worked for driving motor.Miniature laser transmitter
Groundwork device is LASER Discharge Tube, and LASER Discharge Tube transmitting laser cuts coconut.
The description of device overall process：The growth conditions of camera acquisition coconut on unmanned plane, by wireless communication by shape
State information is launched, and is emitted hangnail boomerang to coconut after being instructed, is then cut out unmanned plane and cuts to base of fruit, so that cutting
The coconut cut off is suspended on the lower section for winning unmanned plane.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to structure of the invention
Think and protection scope is defined, without departing from the inventive concept of the premise, ordinary engineering and technical personnel is to this in this field
The various changes and improvements that the technical solution of invention is made, should all be within protection scope of the present invention.
Claims (5)
- The coconut picking robot 1. pair unmanned plane cooperates, it is characterised in that：Including unmanned plane（1）, wireless communication apparatus（2）, it is single Piece machine（3）, camera（4）, hangnail boomerang（5）, hangnail boomerang transmitter（6）, miniature laser cutting machine（7）, mechanical arm（8）；Wirelessly Communication device（2）, camera（4）, hangnail boomerang（5）, hangnail boomerang transmitter（6）, miniature laser cutting machine（7）, mechanical arm（8）Peace Mounted in unmanned plane（1）On；Wireless communication apparatus（2）, camera（4）, hangnail boomerang transmitter（6）, miniature laser cutting machine（7）, Mechanical arm（8）And single-chip microcontroller（3）Connection；Unmanned plane（1）Pass through wireless communication apparatus between computer control terminal（2）It carries out wireless Communication；Unmanned plane is by miniature laser cutting machine（7）, hangnail boomerang（5）With hangnail boomerang transmitter（6）It takes near mature coconut, takes the photograph As head（4）Lock a mature coconut, wireless communication apparatus（2）By camera（4）Collected transmission of video is controlled to computer It holds, staff judges whether to win locked coconut, hangnail boomerang transmitter after confirmation（6）Emit hangnail boomerang to coconut（5）, Hangnail boomerang（5）It injects in cocoanut shell, later micro- shape laser cutting machine（7）The base of fruit of coconut is cut by laser, it is de- with cocoanut tree From coconut by hangnail boomerang（5）It is suspended on unmanned plane（101）Lower section, complete to lock again after the winning an of coconut another A maturation coconut, is carried out continuously and wins work；Situation is won for complicated, special, it can be by miniature laser cutting machine（7）With fall Pierce boomerang transmitter（6）It is separately mounted on two frame unmanned planes, i.e. a frame unmanned plane is responsible for winning coconut, and a frame unmanned plane is responsible for cutting Cut the base of fruit of coconut；Wireless communication apparatus is mounted on two frame unmanned planes（2）, single-chip microcontroller（3）, camera（4）, wireless telecommunications Device is responsible for unmanned plane and controls the wireless telecommunications between computer and two frame unmanned planes；Two frame unmanned planes are respectively by miniature laser Cutting machine（7）, hangnail boomerang（5）With hangnail boomerang transmitter（6）It takes near mature coconut simultaneously, the camera on two frame unmanned planes （4）Lock the same mature coconut, hangnail boomerang transmitter（6）Emit hangnail boomerang to coconut epidermis（5）, hangnail boomerang reeve cocoanut shell It is interior, miniature laser cutting machine later（7）The base of fruit of coconut is cut by laser, the coconut being detached from cocoanut tree is hung by hangnail boomerang Below the unmanned plane for being responsible for winning, the rear two frame unmanned planes of winning for completing a coconut relock another mature coconut, Common carry out wins work.
- The coconut picking robot 2. double unmanned planes according to claim 1 cooperate, it is characterised in that：Miniature laser cutting machine （7）For existing apparatus, for cutting the base of fruit of coconut；Its working principle is that using through over-focusing high power density laser Shu Zhao Cutting body is penetrated, melts illuminated object rapidly, vaporize and burn or reach burning point, while by the high speed gas coaxial with light beam Stream blows down melt substance, to realize cutting to object, laser cutting have cutting precisely, quickly, cutting body deform it is small Advantage；Miniature webcam is provided on the laser emitter of this kind of miniature laser cutting machine, effect is for miniature laser cutting machine Necessary image data is provided when locking coconut base of fruit, laser emitter is helped accurately to cut coconut base of fruit.
- The coconut picking robot 3. double unmanned planes according to claim 1 cooperate, it is characterised in that：Mechanical arm（8）It is existing There is device, using the prior art of robot arm, which can arbitrarily fold at " joint ", be bent, the top of arm End can 360 degree rotation；Mechanical arm（8）It is mounted on unmanned plane（1）Upper end, top install miniature laser cutting machine（7）, when taking the photograph As head（4）After locking coconut, mechanical arm（8）By laser cutting machine after activity（7）It is sent to specific position, and makes laser emitter It is directed at the base of fruit of coconut, makes laser cutting machine（7）It realizes and precisely, quickly cuts.
- The coconut picking robot 4. double unmanned planes according to claim 1 cooperate, it is characterised in that：Hangnail boomerang transmitter （6）For existing apparatus, it is mounted on and wins end unmanned plane（1）Below, which is made of motor, spring and launching tube, Hangnail boomerang compressed spring is pulled after motor rotation, spring is discharged hangnail boomerang after motor power-off（5）It projects, is detached from cocoanut tree in coconut Rope is shunk in motor rotation afterwards is suspended on coconut below unmanned plane 1；Hangnail boomerang（5）It is made of stainless steel, shape approximation fish Boomerang, specific size is depending on actual conditions, hangnail boomerang（5）The rope of one end high intensity be connected to hangnail boomerang transmitter （6）Motor on, the length of rope is depending on actual conditions, unmanned plane（1）Equipped with multiple hangnail boomerang transmitters（6）, each fall Thorn boomerang transmitter is provided with a hangnail boomerang（5）, often win a coconut and use a hangnail boomerang（5）；Coconut thickness of the shell exists Between 3cm-5cm, by adjusting hangnail transmitter（6）Transmitting dynamics and transmitter away from can control hangnail boomerang at a distance from coconut （5）The depth being inserted into cocoanut shell, is essentially hangnail boomerang（5）Cocoanut shell is not penetrated while coconut can be tangled.
- The coconut picking robot 5. double unmanned planes according to claim 1 cooperate, it is characterised in that：Single-chip microcontroller model AT89C51。
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113196945A (en) * | 2021-04-28 | 2021-08-03 | 大连理工大学 | Picking system based on unmanned aerial vehicle group cooperative work and use method |
| US20220315221A1 (en) * | 2021-03-30 | 2022-10-06 | Toyota Jidosha Kabushiki Kaisha | Server apparatus, system, flight vehicle, and operation method for system |
| ES2940833A1 (en) * | 2021-11-11 | 2023-05-11 | Iglesias Luis Manuel Riesgo | EQUIPMENT AND PROCEDURE FOR TAKING SAMPLES, MEASUREMENTS AND RECORDS OF PHOTOGRAMMETRIC, PHYSICAL AND CHEMICAL PARAMETERS OF THE DEGREE OF MATURITY OF A FRUIT (Machine-translation by Google Translate, not legally binding) |
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| CN108901360B (en) | 2021-11-30 |
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